CN120612857B - An intelligent interactive teaching system and method for intravenous puncture combining virtual and real elements. - Google Patents

An intelligent interactive teaching system and method for intravenous puncture combining virtual and real elements.

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CN120612857B
CN120612857B CN202510693356.6A CN202510693356A CN120612857B CN 120612857 B CN120612857 B CN 120612857B CN 202510693356 A CN202510693356 A CN 202510693356A CN 120612857 B CN120612857 B CN 120612857B
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puncture
trajectory
needle insertion
needle
teaching
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CN120612857A (en
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何婷
何燕
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Shenzhen Stomatological Hospital Of Southern Medical University Pingshan
Guangzhou Chest Hospital (guangzhou Tb Control Institute Guangzhou Tb Treatment Center)
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Shenzhen Stomatological Hospital Of Southern Medical University Pingshan
Guangzhou Chest Hospital (guangzhou Tb Control Institute Guangzhou Tb Treatment Center)
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    • G—PHYSICS
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    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
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    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/20—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms

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Abstract

本发明公开了一种智能化静脉穿刺虚实结合的交互教学系统及方法，涉及医疗领域，解决了静脉穿刺虚实结合的交互教学系统存在教学效果差的问题，包括进针数据模块：针对目标学生设置若干次穿刺交互实验，创建第一穿刺教学模型对每一次穿刺交互实验进行进针角度分析，得到进针角度偏差数据，穿刺轨迹模块：创建第二穿刺教学模型对每一次穿刺交互实验进行穿刺轨迹分析，得到穿刺轨迹偏差数据，交互评估模块：根据进针角度偏差数据和穿刺轨迹偏差数据对目标学生进行穿刺水平评估，本发明能够提高静脉穿刺能力评估结果的真实性和全面性。

This invention discloses an intelligent interactive teaching system and method for intravenous puncture that combines virtual and real elements, relating to the medical field. It addresses the problem of poor teaching effectiveness in existing interactive teaching systems for intravenous puncture that combine virtual and real elements. The system includes a needle insertion data module: setting up several interactive puncture experiments for the target student, creating a first puncture teaching model to analyze the needle insertion angle for each experiment, and obtaining needle insertion angle deviation data; a puncture trajectory module: creating a second puncture teaching model to analyze the puncture trajectory for each experiment, and obtaining puncture trajectory deviation data; and an interactive evaluation module: evaluating the target student's puncture skill level based on the needle insertion angle deviation data and puncture trajectory deviation data. This invention improves the authenticity and comprehensiveness of the intravenous puncture ability evaluation results.

Description

Intelligent vein puncture virtual-real combined interactive teaching system and method
Technical Field
The invention belongs to the field of medical treatment, relates to an intelligent venipuncture technology, and particularly relates to an intelligent intravenous puncture virtual-real combined interactive teaching system and method.
Background
The existing interactive teaching system combining venipuncture with virtual and real has the following defects when carrying out puncture ability assessment on students:
1. The traditional interactive teaching system cannot analyze the angle of the advancing needle for each puncture interactive experiment, cannot judge the deviation of the angle of the puncture operation of students, and is easy to cause the lack of accuracy and objectivity in the process of evaluating the ability of the advancing needle angle;
2. The conventional interactive teaching system cannot create a second puncture teaching model to analyze the puncture track of each puncture interactive experiment, and cannot acquire the abnormality of the puncture track corresponding to each puncture teaching experiment according to the analysis result, so that the puncture track capability assessment result lacks of reality and comprehensiveness.
Therefore, we propose an intelligent intravenous puncture virtual-real combined interactive teaching system and method.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an intelligent intravenous puncture virtual-real combination interactive teaching system and an intelligent intravenous puncture virtual-real combination interactive teaching method, and aims to improve the comprehensiveness and accuracy of the intravenous puncture virtual-real combination interactive teaching system.
In order to achieve the purpose, the intelligent intravenous puncture virtual-real combined interactive teaching system adopts the following technical scheme that the intelligent intravenous puncture virtual-real combined interactive teaching system comprises the following specific working processes of each module:
the needle inserting data module is used for setting a plurality of puncture interaction experiments for target students, creating a first puncture teaching model for analyzing the needle inserting angle of each puncture interaction experiment, and acquiring the needle inserting angle deviation degree corresponding to each puncture teaching experiment according to the analysis result to obtain needle inserting angle deviation data;
the puncture track module is used for creating a second puncture teaching model to perform puncture track analysis on each puncture interaction experiment, and acquiring the puncture track anomaly degree corresponding to each puncture teaching experiment according to the analysis result to obtain puncture track deviation data;
And the interaction evaluation module is used for evaluating the puncture level of the target student according to the needle insertion angle deviation data and the puncture track deviation data.
Further, the needle insertion angle deviation data is obtained, specifically as follows:
in the current teaching period, acquiring students receiving puncture teaching, and randomly selecting one target student from a plurality of acquired students;
Setting a plurality of puncture teaching experiments aiming at a target student, wherein an arm model corresponding to each puncture teaching experiment is in different clinical simulation states, and randomly selecting one sample puncture teaching experiment from the set plurality of puncture teaching experiments;
Selecting a plurality of adipose tissue characteristic points from subcutaneous adipose tissue of an arm model, and arranging a piezoresistive sensor at the skin position of each adipose tissue characteristic point to obtain a first puncture teaching model;
Analyzing the angle of the needle entering and advancing of the sample puncture teaching experiment by using the first puncture teaching model, and obtaining the deviation of the needle entering angle corresponding to the sample puncture teaching experiment according to the analysis result;
And repeating the acquisition process of the needle insertion angle deviation degree corresponding to the sample puncture teaching experiment, and respectively acquiring the needle insertion angle deviation degree corresponding to each puncture teaching experiment to obtain needle insertion angle deviation data.
Further, the deviation of the needle inserting angle corresponding to the sample puncture teaching experiment is obtained, and the method specifically comprises the following steps:
Performing spatial analysis on the first puncture teaching model, and creating a needle insertion space rectangular coordinate system according to an analysis result;
In a needle insertion space coordinate system, acquiring a plurality of adipose tissue characteristic points contacted with a puncture needle operated by a target student through a piezoresistive sensor to obtain a plurality of needle contact characteristic points, and sequentially marking the acquired plurality of needle contact characteristic points as J1 contact characteristic points to Ja contact characteristic points according to the contact sequence;
In a needle insertion space rectangular coordinate system, connecting a J1 contact characteristic point and a J2 contact characteristic point to obtain a J1 needle insertion angle line, connecting the J2 contact characteristic point and a J3 contact characteristic point to obtain a J2 needle insertion angle line, and connecting a Ja-1 contact characteristic point and a Ja contact characteristic point to obtain a Ja-1 needle insertion angle line;
The included angle between the J1 needle inserting angle line and the first needle inserting plane is marked as a J1 needle inserting angle value, the included angle between the J2 needle inserting angle line and the first needle inserting plane is marked as a J2 needle inserting angle value, and the like, and the included angle between the Ja-1 needle inserting angle line and the first needle inserting plane is marked as a Ja-1 needle inserting angle value;
performing deviation analysis on the J1 needle inserting angle line to obtain J1 needle inserting angle deviation;
Repeating the acquisition process of the J1 needle inserting angle deviation, and respectively acquiring the J2 needle inserting angle deviation to the Ja-1 needle inserting angle deviation;
Respectively obtaining the deviations from the J1 needle inserting angle value to the Ja-1 needle inserting angle value and the reference needle inserting angle interval, obtaining the J1 needle inserting angle deviation to the Ja-1 needle inserting angle deviation, comparing the values from the J1 needle inserting angle deviation to the Ja-1 needle inserting angle deviation, and marking the needle inserting angle deviation with the largest value as the peak needle inserting angle deviation;
and acquiring the interval median corresponding to the reference needle-inserting angle interval, and calculating the ratio of the peak needle-inserting angle deviation to obtain the needle-inserting angle deviation corresponding to the sample puncture teaching experiment.
Further, a rectangular coordinate system of the needle insertion space is created, specifically as follows:
Acquiring a puncture needle point of a target student in a first puncture teaching model, marking a puncture skin area by taking the puncture needle point as a geometric center point, and marking a space area occupied by adipose tissue characteristic points corresponding to the skin puncture area as a puncture needle space area;
in the puncture needle insertion space region, marking a puncture needle insertion point as a coordinate origin, marking a horizontal plane where the coordinate origin is located as a first needle insertion plane, in the first needle insertion plane, arbitrarily making a straight line through the coordinate origin to obtain a first needle insertion straight line, making a straight line perpendicular to the first needle insertion straight line through the coordinate origin to obtain a second needle insertion straight line, making a straight line perpendicular to the first needle insertion plane through the coordinate origin to obtain a third needle insertion straight line, marking the first needle insertion straight line as a coordinate x-axis, marking the second needle insertion straight line as a coordinate y-axis, and marking the third needle insertion straight line as a coordinate z-axis to obtain a needle insertion space rectangular coordinate system.
Further, the deviation of the needle inserting angle of the J1 is obtained, and the method is specifically as follows:
Acquiring the upper limit and the lower limit of a reference needle-inserting angle interval,
If the J1 needle inserting angle value Jdz is larger than the upper limit Jqs of the reference needle inserting angle interval, calculating to obtain J1 needle inserting angle deviation Pj 1;
if the value Jdz of the needle insertion angle of J1 is smaller than the lower limit Jqx of the reference needle insertion angle interval, calculating to obtain a needle insertion angle deviation Pj 1 of J1;
if the value of the J1 needle inserting angle is equal to the upper limit of the reference needle inserting angle interval or the lower limit of the reference needle inserting angle interval, the deviation of the J1 needle inserting angle is 0.
Further, the puncture track deviation data is acquired, specifically as follows:
acquiring an arm model corresponding to the sample puncture teaching experiment, and modeling an inner space of the arm model to obtain a second puncture teaching model;
The geometric center point of the second puncture teaching model is obtained and marked as a track characteristic point, a horizontal plane where the track characteristic point is located is marked as a first track plane, in the first track plane, a straight line is arbitrarily made through the track characteristic point to obtain a first track straight line, a straight line perpendicular to the first track straight line is made through the track characteristic point to obtain a second track straight line, a straight line perpendicular to the first track plane is made through a coordinate origin to obtain a third track straight line, the track characteristic point is marked as a coordinate origin, the first track straight line is marked as a coordinate x-axis, the second track straight line is marked as a coordinate y-axis, and the third track straight line is marked as a coordinate z-axis to obtain a track space rectangular coordinate system;
Performing puncture track analysis on the sample puncture teaching experiment by using a second puncture teaching model, and acquiring puncture track anomaly corresponding to the sample puncture teaching experiment according to an analysis result;
and repeating the acquisition process of the puncture track anomaly degree corresponding to the sample puncture teaching experiment, and respectively acquiring the puncture track anomaly degree corresponding to each puncture teaching experiment to obtain puncture track deviation data.
Further, the abnormal degree of the puncture track corresponding to the sample puncture teaching experiment is obtained, and the method specifically comprises the following steps:
In the second puncture teaching model, acquiring a needle puncture trajectory of a target student operation sample puncture teaching experiment, decomposing the needle puncture trajectory into a plurality of track coordinate points, and respectively marking the acquired plurality of track coordinate points as G1 track coordinate points to Gb track coordinate points;
In the second puncture teaching model, marking a puncture blood vessel corresponding to a sample puncture teaching experiment to obtain a target puncture area;
Acquiring the edge distance values from the G1 track coordinate point to the Gb track coordinate point and the target puncture area, and acquiring the G1 edge distance value to the Gb edge distance value;
If the G1 track coordinate is not in the target puncture area, marking the G1 track coordinate point with an abnormal track point;
If the G1 track coordinate is positioned in the target puncture area, acquiring an edge distance reference interval, if the G1 edge distance value is positioned in the edge distance reference interval, marking a normal track point by the G1 track coordinate point, and if the G1 edge distance value is not positioned in the edge distance reference interval, marking an abnormal track point by the G1 track coordinate point;
and acquiring the number of the abnormal track points from the G1 track coordinate point to the Gb track coordinate point to obtain an abnormal track point number value, and calculating the ratio of the abnormal track point number value to b to obtain the puncture track anomaly degree corresponding to the sample puncture teaching experiment.
Further, the value of the edge distance of G1 is obtained as follows:
in the second puncture teaching model, a G1 track coordinate point is used as a vertical section of a target puncture area to obtain a G1 blood vessel vertical section, pixel point filling is carried out on the blood vessel edge in the G1 blood vessel vertical section to obtain a plurality of blood vessel edge pixel points, and one blood vessel edge pixel point is selected from the filled plurality of blood vessel edge pixel points at will;
Acquiring coordinates of a G1 track coordinate point in a track space rectangular coordinate system to obtain G1 track coordinates (x 1, y1, z 1), and acquiring coordinates of a sample blood vessel edge pixel point in the track space rectangular coordinate system to obtain sample pixel point coordinates (x 2, y2, z 2);
Calculating to obtain a coordinate distance value Yzj between the G1 track coordinate point and the sample blood vessel edge pixel point through the G1 track coordinate (x 1, y1, z 1) and the sample pixel point coordinate (x 2, y2, z 2);
and respectively acquiring the coordinate distance values between the G1 track coordinate point and each blood vessel edge pixel point, comparing the values of the obtained coordinate distance values, and marking the coordinate distance value with the smallest value as the G1 edge distance value.
Further, the puncture level evaluation is performed on the target students, specifically as follows:
Acquiring needle inserting angle deviation data, respectively acquiring needle inserting angle deviation degrees corresponding to each puncture teaching experiment according to the needle inserting angle deviation data, and calculating a plurality of obtained needle inserting angle deviation degrees to obtain a needle inserting angle average deviation degree;
acquiring puncture track deviation data, and respectively acquiring puncture track anomaly corresponding to each puncture teaching experiment according to the puncture track deviation data;
respectively acquiring an average deviation degree reference interval of a needle inserting angle and a puncture track abnormality degree reference interval;
If the average deviation degree of the needle inserting angle is in the reference interval of the average deviation degree of the needle inserting angle and the abnormality degree of the puncture track is in the reference interval of the abnormality degree of the puncture track, evaluating that the puncture level of the target student is qualified;
If the average deviation degree of the needle inserting angle is in the reference interval of the average deviation degree of the needle inserting angle and the abnormal degree of the puncture track is not in the reference interval of the abnormal degree of the puncture track, evaluating that the puncture level of the target student is unqualified;
if the average deviation degree of the needle inserting angle is not in the reference interval of the average deviation degree of the needle inserting angle and the abnormality degree of the puncture track is in the reference interval of the abnormality degree of the puncture track, evaluating that the puncture level of the target student is unqualified;
If the average deviation degree of the needle inserting angle is not in the reference interval of the average deviation degree of the needle inserting angle and the abnormal degree of the puncture track is not in the reference interval of the abnormal degree of the puncture track, the puncture level of the target student is evaluated to be unqualified.
An intelligent intravenous puncture virtual-real combined interactive teaching method comprises the following steps:
Step S1, setting a plurality of puncture interaction experiments for a target student, creating a first puncture teaching model, analyzing the angle of a needle entering and advancing for each puncture interaction experiment, and acquiring the deviation degree of the needle entering angle corresponding to each puncture teaching experiment according to an analysis result to obtain deviation data of the needle entering angle;
step S2, creating a second puncture teaching model to analyze the puncture track of each puncture interaction experiment, and acquiring the puncture track anomaly degree corresponding to each puncture teaching experiment according to the analysis result to obtain puncture track deviation data;
And step S3, performing puncture level evaluation on the target students according to the needle inlet angle deviation data and the puncture track deviation data.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. According to the invention, a first puncture teaching model is established for a target student, the angle of the advancing needle of each puncture interaction experiment is analyzed, and deviation judgment can be carried out on the angle of the puncture operation of the student, so that the accuracy and objectivity of the needle-advancing angle capability assessment process are ensured;
2. The conventional interactive teaching system analyzes the puncture track of each puncture interactive experiment by creating a second puncture teaching model, and acquires the abnormality of the puncture track corresponding to each puncture teaching experiment according to the analysis result, thereby ensuring the authenticity and the comprehensiveness of the puncture track capability assessment result.
Drawings
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
FIG. 1 is an overall system block diagram of the present invention;
fig. 2 is a diagram of the steps for implementing the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, the invention provides a technical scheme that an intelligent intravenous puncture virtual-real combined interactive teaching system comprises a needle insertion data module, a puncture track module, an interactive evaluation module and a server, wherein the needle insertion data module, the needle penetration track module and the interactive evaluation module are respectively connected with the server, and the server respectively controls the needle insertion data module, the needle penetration track module and the interactive evaluation module;
The needle inserting data module sets a plurality of puncture interaction experiments aiming at a target student, creates a first puncture teaching model for analyzing the needle inserting angle of each puncture interaction experiment, and obtains the needle inserting angle deviation degree corresponding to each puncture teaching experiment according to the analysis result to obtain needle inserting angle deviation data;
The method comprises the following steps:
in the current teaching period, acquiring students receiving puncture teaching, and randomly selecting one target student from a plurality of acquired students;
Setting a plurality of puncture teaching experiments aiming at a target student, wherein an arm model corresponding to each puncture teaching experiment is in different clinical simulation states, and randomly selecting one sample puncture teaching experiment from the set plurality of puncture teaching experiments;
What needs to be explained here is:
The arm model can carry out diversified clinical simulation according to the blood vessel characteristics and the skin characteristics of different clinical patients;
for example, the blood vessel of children has smaller diameter, thinner blood vessel wall, loose skin of old people, increased fragility and easy rupture, the blood vessel of obese patients is usually covered by adipose tissue and positioned deeper, the blood vessel of patients with shock or hypotension is contracted to cause puncture difficulty, the running of the blood vessel can be divided into linear type, bending type and branching type, and the arm model involved in the method can specifically simulate clinical diversified peripheral veins and skin states.
Selecting a plurality of adipose tissue characteristic points from subcutaneous adipose tissue of an arm model, and arranging a piezoresistive sensor at the skin position of each adipose tissue characteristic point to obtain a first puncture teaching model;
What needs to be explained here is:
The adipose tissue feature points referred to herein are all three-dimensionally arranged and all occupy a spatial volume.
Analyzing the angle of the needle entering and advancing of the sample puncture teaching experiment by using the first puncture teaching model, and obtaining the deviation of the needle entering angle corresponding to the sample puncture teaching experiment according to the analysis result;
The method comprises the following steps:
Acquiring a puncture needle point of a target student in a first puncture teaching model, marking a puncture skin area by taking the puncture needle point as a geometric center point, and marking a space area occupied by adipose tissue characteristic points corresponding to the skin puncture area as a puncture needle space area;
Marking a puncture needle point as a coordinate origin in a puncture needle space region, marking a horizontal plane where the coordinate origin is located as a first needle inserting plane, arbitrarily making a straight line through the coordinate origin in the first needle inserting plane to obtain a first needle inserting straight line, making a straight line perpendicular to the first needle inserting straight line through the coordinate origin to obtain a second needle inserting straight line, making a straight line perpendicular to the first needle inserting plane through the coordinate origin to obtain a third needle inserting straight line, marking the first needle inserting straight line as a coordinate x-axis, marking the second needle inserting straight line as a coordinate y-axis, and marking the third needle inserting straight line as a coordinate z-axis to obtain a needle inserting space rectangular coordinate system;
In a needle insertion space coordinate system, acquiring a plurality of adipose tissue characteristic points contacted with a puncture needle operated by a target student through a piezoresistive sensor to obtain a plurality of needle contact characteristic points, and sequentially marking the acquired plurality of needle contact characteristic points as J1 contact characteristic points to Ja contact characteristic points according to the contact sequence;
What needs to be explained here is:
In the application, the needle contact characteristic points are acquired through the piezoresistive sensor corresponding to each needle contact characteristic point;
in the application, j referred to herein is a sign symbol corresponding to a needle contact feature point, a referred to herein is a number value corresponding to the needle contact feature point, and a is an integer greater than 0;
In a needle insertion space rectangular coordinate system, connecting a J1 contact characteristic point and a J2 contact characteristic point to obtain a J1 needle insertion angle line, connecting the J2 contact characteristic point and a J3 contact characteristic point to obtain a J2 needle insertion angle line, and connecting a Ja-1 contact characteristic point and a Ja contact characteristic point to obtain a Ja-1 needle insertion angle line;
The included angle between the J1 needle inserting angle line and the first needle inserting plane is marked as a J1 needle inserting angle value, the included angle between the J2 needle inserting angle line and the first needle inserting plane is marked as a J2 needle inserting angle value, and the like, and the included angle between the Ja-1 needle inserting angle line and the first needle inserting plane is marked as a Ja-1 needle inserting angle value;
Acquiring the upper limit and the lower limit of a reference needle-inserting angle interval,
If the value Jdz of the needle insertion angle of J1 is greater than the upper limit Jqs of the reference needle insertion angle interval, calculating the deviation Pjj1 of the needle insertion angle of J1 according to the formula Pjj1 = Jdz 1-Jqs;
If the J1 needle insertion angle value Jdz is smaller than the lower limit Jqx of the reference needle insertion angle interval, calculating the J1 needle insertion angle deviation Pjj1 Pjj 1= Jqx-Jdz1 according to a formula to obtain the J1 needle insertion angle deviation Pjj1;
if the value of the J1 needle inserting angle is equal to the upper limit of the reference needle inserting angle interval or the lower limit of the reference needle inserting angle interval, the deviation of the J1 needle inserting angle is 0;
Repeating the acquisition process of the J1 needle inserting angle deviation, and respectively acquiring the J2 needle inserting angle deviation to the Ja-1 needle inserting angle deviation;
Respectively obtaining the deviations from the J1 needle inserting angle value to the Ja-1 needle inserting angle value and the reference needle inserting angle interval, obtaining the J1 needle inserting angle deviation to the Ja-1 needle inserting angle deviation, comparing the values from the J1 needle inserting angle deviation to the Ja-1 needle inserting angle deviation, and marking the needle inserting angle deviation with the largest value as the peak needle inserting angle deviation;
What needs to be explained here is:
in the application, a reference needle-inserting angle interval is acquired;
The method comprises the following steps:
selecting a plurality of groups of historical successful puncture cases with the same content as the sample puncture teaching experiment, respectively acquiring needle insertion angle values corresponding to each historical engineering puncture case, carrying out average calculation on the acquired needle insertion angle values to obtain a needle insertion angle average value, carrying out standard deviation calculation on the acquired needle insertion angle values to obtain a needle insertion angle standard deviation, calculating the sum of the needle insertion angle average value and the needle insertion angle standard deviation to obtain a reference needle insertion angle interval upper limit, calculating the difference between the needle insertion angle average value and the needle insertion angle standard deviation to obtain a reference needle insertion angle interval lower limit, and marking a numerical range between the reference needle insertion angle interval upper limit and the reference needle insertion angle interval lower limit as a reference needle insertion angle interval;
Acquiring a section median corresponding to the reference needle-inserting angle section, and calculating the ratio of the peak needle-inserting angle deviation to obtain the needle-inserting angle deviation corresponding to the sample puncture teaching experiment;
What needs to be explained here is:
in the present application, the median of the interval referred to herein is specifically an average of the upper limit of the reference needle insertion angle interval and the lower limit of the reference needle insertion angle interval.
Repeating the acquisition process of the needle insertion angle deviation degree corresponding to the sample puncture teaching experiment, and respectively acquiring the needle insertion angle deviation degree corresponding to each puncture teaching experiment to obtain needle insertion angle deviation data;
the needle inserting data module acquires needle inserting angle deviation data and transmits the data to the interaction evaluation module;
the puncture track module creates a second puncture teaching model to perform puncture track analysis on each puncture interaction experiment, and obtains the puncture track anomaly degree corresponding to each puncture teaching experiment according to the analysis result to obtain puncture track deviation data;
The method comprises the following steps:
acquiring an arm model corresponding to the sample puncture teaching experiment, and modeling an inner space of the arm model to obtain a second puncture teaching model;
The geometric center point of the second puncture teaching model is obtained and marked as a track characteristic point, a horizontal plane where the track characteristic point is located is marked as a first track plane, in the first track plane, a straight line is arbitrarily made through the track characteristic point to obtain a first track straight line, a straight line perpendicular to the first track straight line is made through the track characteristic point to obtain a second track straight line, a straight line perpendicular to the first track plane is made through a coordinate origin to obtain a third track straight line, the track characteristic point is marked as a coordinate origin, the first track straight line is marked as a coordinate x-axis, the second track straight line is marked as a coordinate y-axis, and the third track straight line is marked as a coordinate z-axis to obtain a track space rectangular coordinate system;
Performing puncture track analysis on the sample puncture teaching experiment by using a second puncture teaching model, and acquiring puncture track anomaly corresponding to the sample puncture teaching experiment according to an analysis result;
The method comprises the following steps:
In the second puncture teaching model, acquiring a needle puncture trajectory of a target student operation sample puncture teaching experiment, decomposing the needle puncture trajectory into a plurality of track coordinate points, and respectively marking the acquired plurality of track coordinate points as G1 track coordinate points to Gb track coordinate points;
What needs to be explained here is:
In the present application, G referred to herein is a sign symbol corresponding to a track coordinate point, b referred to herein is a number value corresponding to a track coordinate point, and b is an integer greater than 0.
In the second puncture teaching model, marking a puncture blood vessel corresponding to a sample puncture teaching experiment to obtain a target puncture area;
Acquiring the edge distance values from the G1 track coordinate point to the Gb track coordinate point and the target puncture area, and acquiring the G1 edge distance value to the Gb edge distance value;
The method comprises the following steps:
in the second puncture teaching model, a G1 track coordinate point is used as a vertical section of a target puncture area to obtain a G1 blood vessel vertical section, pixel point filling is carried out on the blood vessel edge in the G1 blood vessel vertical section to obtain a plurality of blood vessel edge pixel points, and one blood vessel edge pixel point is selected from the filled plurality of blood vessel edge pixel points at will;
Acquiring coordinates of a G1 track coordinate point in a track space rectangular coordinate system to obtain G1 track coordinates (x 1, y1, z 1), and acquiring coordinates of a sample blood vessel edge pixel point in the track space rectangular coordinate system to obtain sample pixel point coordinates (x 2, y2, z 2);
Calculating to obtain a coordinate distance value Yzj between the G1 track coordinate point and the sample blood vessel edge pixel point through the G1 track coordinate (x 1, y1, z 1) and the sample pixel point coordinate (x 2, y2, z 2);
The specific formula is as follows:
Respectively obtaining the coordinate distance values between the G1 track coordinate point and each blood vessel edge pixel point, comparing the values of the obtained coordinate distance values, and marking the coordinate distance value with the smallest value as the G1 edge distance value;
Repeating the acquisition process of the G1 edge distance value to acquire a G2 edge distance value to a Gb edge distance value respectively;
If the G1 track coordinate is not in the target puncture area, marking the G1 track coordinate point with an abnormal track point;
If the G1 track coordinate is positioned in the target puncture area, acquiring an edge distance reference interval, if the G1 edge distance value is positioned in the edge distance reference interval, marking a normal track point by the G1 track coordinate point, and if the G1 edge distance value is not positioned in the edge distance reference interval, marking an abnormal track point by the G1 track coordinate point;
What needs to be explained here is:
In the present application, the normal track points referred to herein include an abnormal track point target puncture area boundary and an edge distance reference interval boundary;
The edge distance reference interval is specifically set according to the internal diameter of the target puncture area, the lower limit of the edge distance reference interval is 0, namely, the puncture needle is directly contacted with the inner wall of the blood vessel, the edge distance reference interval is specifically 10% of the internal diameter of the target puncture area, and if the internal diameter of the target puncture area is 4mm, the edge distance reference interval is [0mm,0.4mm ].
Obtaining the number of abnormal track points from the G1 track coordinate point to the Gb track coordinate point to obtain an abnormal track point number value, and calculating the ratio of the abnormal track point number value to b to obtain the puncture track anomaly degree corresponding to the sample puncture teaching experiment;
repeating the acquisition process of the puncture track anomaly degree corresponding to the sample puncture teaching experiment, and respectively acquiring the puncture track anomaly degree corresponding to each puncture teaching experiment to obtain puncture track deviation data;
the interaction evaluation module evaluates the puncture level of the target student according to the needle insertion angle deviation data and the puncture track deviation data;
The method comprises the following steps:
Acquiring needle inserting angle deviation data, respectively acquiring needle inserting angle deviation degrees corresponding to each puncture teaching experiment according to the needle inserting angle deviation data, and calculating a plurality of obtained needle inserting angle deviation degrees to obtain a needle inserting angle average deviation degree;
acquiring puncture track deviation data, and respectively acquiring puncture track anomaly corresponding to each puncture teaching experiment according to the puncture track deviation data;
respectively acquiring an average deviation degree reference interval of a needle inserting angle and a puncture track abnormality degree reference interval;
What needs to be explained here is:
The average deviation degree reference interval of the needle inserting angle is acquired, and the method specifically comprises the following steps:
The lower limit of the standard interval of the average deviation degree of the needle inserting angle is 0, namely no needle inserting angle deviation exists,
Selecting a plurality of sample students with qualified puncture levels, respectively acquiring average deviation degrees of needle inserting angles corresponding to each qualified sample student, carrying out average calculation on the obtained average deviation degrees of a plurality of needle inserting angles to obtain an upper limit of a reference interval of the average deviation degrees of the needle inserting angles, and marking a numerical range between a lower limit of the reference interval of the average deviation degrees of the needle inserting angles and the upper limit of the reference interval of the average deviation degrees of the needle inserting angles as a reference interval of the average deviation degrees of the needle inserting angles;
the puncture track abnormality degree reference interval is acquired as follows:
The lower limit of the abnormal reference interval of the puncture track is 0, namely no deviation of the needle inserting angle exists,
Selecting a plurality of sample students with qualified puncture levels, respectively acquiring the abnormal degree of the puncture track corresponding to each qualified sample student, carrying out average calculation on the obtained abnormal degrees of the puncture tracks to obtain the upper limit of the abnormal degree reference interval of the puncture track, and marking the numerical range between the lower limit of the abnormal degree reference interval of the puncture track and the upper limit of the abnormal degree reference interval of the puncture track as the abnormal degree reference interval of the puncture track;
If the average deviation degree of the needle inserting angle is in the reference interval of the average deviation degree of the needle inserting angle and the abnormality degree of the puncture track is in the reference interval of the abnormality degree of the puncture track, evaluating that the puncture level of the target student is qualified;
If the average deviation degree of the needle inserting angle is in the reference interval of the average deviation degree of the needle inserting angle and the abnormal degree of the puncture track is not in the reference interval of the abnormal degree of the puncture track, evaluating that the puncture level of the target student is unqualified;
if the average deviation degree of the needle inserting angle is not in the reference interval of the average deviation degree of the needle inserting angle and the abnormality degree of the puncture track is in the reference interval of the abnormality degree of the puncture track, evaluating that the puncture level of the target student is unqualified;
If the average deviation degree of the needle inserting angle is not in the reference interval of the average deviation degree of the needle inserting angle and the abnormal degree of the puncture track is not in the reference interval of the abnormal degree of the puncture track, evaluating that the puncture level of the target student is unqualified;
What needs to be explained here is:
The target student puncture level qualification comprises an average deviation degree reference interval boundary of a needle insertion angle and a puncture track abnormality degree reference interval boundary.
In the application, if a corresponding calculation formula appears, the calculation formulas are all dimensionality-removed and numerical calculation, and the weight coefficient, the proportion coefficient and other coefficients in the formulas are set to be a result value obtained by quantizing each parameter, so long as the proportion relation between the parameter and the result value is not influenced.
Example two
Referring to fig. 2, based on another concept of the same invention, an intelligent interactive teaching method for combining virtual and real venipuncture is now provided, which comprises the following steps:
Step S1, setting a plurality of puncture interaction experiments for a target student, creating a first puncture teaching model, analyzing the angle of a needle entering and advancing for each puncture interaction experiment, and acquiring the deviation degree of the needle entering angle corresponding to each puncture teaching experiment according to an analysis result to obtain deviation data of the needle entering angle;
in the step S1, the method further includes the following steps:
in the current teaching period, acquiring students receiving puncture teaching, and randomly selecting one target student from a plurality of acquired students;
Setting a plurality of puncture teaching experiments aiming at a target student, wherein an arm model corresponding to each puncture teaching experiment is in different clinical simulation states, and randomly selecting one sample puncture teaching experiment from the set plurality of puncture teaching experiments;
Selecting a plurality of adipose tissue characteristic points from subcutaneous adipose tissue of an arm model, and arranging a piezoresistive sensor at the skin position of each adipose tissue characteristic point to obtain a first puncture teaching model;
Analyzing the angle of the needle entering and advancing of the sample puncture teaching experiment by using the first puncture teaching model, and obtaining the deviation of the needle entering angle corresponding to the sample puncture teaching experiment according to the analysis result;
The method comprises the following steps:
Performing spatial analysis on the first puncture teaching model, and creating a needle insertion space rectangular coordinate system according to an analysis result;
The method comprises the following steps:
Acquiring a puncture needle point of a target student in a first puncture teaching model, marking a puncture skin area by taking the puncture needle point as a geometric center point, and marking a space area occupied by adipose tissue characteristic points corresponding to the skin puncture area as a puncture needle space area;
Marking a puncture needle point as a coordinate origin in a puncture needle space region, marking a horizontal plane where the coordinate origin is located as a first needle inserting plane, arbitrarily making a straight line through the coordinate origin in the first needle inserting plane to obtain a first needle inserting straight line, making a straight line perpendicular to the first needle inserting straight line through the coordinate origin to obtain a second needle inserting straight line, making a straight line perpendicular to the first needle inserting plane through the coordinate origin to obtain a third needle inserting straight line, marking the first needle inserting straight line as a coordinate x-axis, marking the second needle inserting straight line as a coordinate y-axis, and marking the third needle inserting straight line as a coordinate z-axis to obtain a needle inserting space rectangular coordinate system;
In a needle insertion space coordinate system, acquiring a plurality of adipose tissue characteristic points contacted with a puncture needle operated by a target student through a piezoresistive sensor to obtain a plurality of needle contact characteristic points, and sequentially marking the acquired plurality of needle contact characteristic points as J1 contact characteristic points to Ja contact characteristic points according to the contact sequence;
In a needle insertion space rectangular coordinate system, connecting a J1 contact characteristic point and a J2 contact characteristic point to obtain a J1 needle insertion angle line, connecting the J2 contact characteristic point and a J3 contact characteristic point to obtain a J2 needle insertion angle line, and connecting a Ja-1 contact characteristic point and a Ja contact characteristic point to obtain a Ja-1 needle insertion angle line;
The included angle between the J1 needle inserting angle line and the first needle inserting plane is marked as a J1 needle inserting angle value, the included angle between the J2 needle inserting angle line and the first needle inserting plane is marked as a J2 needle inserting angle value, and the like, and the included angle between the Ja-1 needle inserting angle line and the first needle inserting plane is marked as a Ja-1 needle inserting angle value;
performing deviation analysis on the J1 needle inserting angle line to obtain J1 needle inserting angle deviation;
The method comprises the following steps:
Acquiring the upper limit and the lower limit of a reference needle-inserting angle interval,
If the value Jdz of the needle insertion angle of J1 is greater than the upper limit Jqs of the reference needle insertion angle interval, calculating the deviation Pjj1 of the needle insertion angle of J1 according to the formula Pjj1 = Jdz 1-Jqs;
If the J1 needle insertion angle value Jdz is smaller than the lower limit Jqx of the reference needle insertion angle interval, calculating the J1 needle insertion angle deviation Pjj1 Pjj 1= Jqx-Jdz1 according to a formula to obtain the J1 needle insertion angle deviation Pjj1;
if the value of the J1 needle inserting angle is equal to the upper limit of the reference needle inserting angle interval or the lower limit of the reference needle inserting angle interval, the deviation of the J1 needle inserting angle is 0;
Repeating the acquisition process of the J1 needle inserting angle deviation, and respectively acquiring the J2 needle inserting angle deviation to the Ja-1 needle inserting angle deviation;
Respectively obtaining the deviations from the J1 needle inserting angle value to the Ja-1 needle inserting angle value and the reference needle inserting angle interval, obtaining the J1 needle inserting angle deviation to the Ja-1 needle inserting angle deviation, comparing the values from the J1 needle inserting angle deviation to the Ja-1 needle inserting angle deviation, and marking the needle inserting angle deviation with the largest value as the peak needle inserting angle deviation;
Acquiring a section median corresponding to the reference needle-inserting angle section, and calculating the ratio of the peak needle-inserting angle deviation to obtain the needle-inserting angle deviation corresponding to the sample puncture teaching experiment;
Repeating the acquisition process of the needle insertion angle deviation degree corresponding to the sample puncture teaching experiment, and respectively acquiring the needle insertion angle deviation degree corresponding to each puncture teaching experiment to obtain needle insertion angle deviation data;
step S2, creating a second puncture teaching model to analyze the puncture track of each puncture interaction experiment, and acquiring the puncture track anomaly degree corresponding to each puncture teaching experiment according to the analysis result to obtain puncture track deviation data;
in the step S2, the method further includes the following steps:
acquiring an arm model corresponding to the sample puncture teaching experiment, and modeling an inner space of the arm model to obtain a second puncture teaching model;
The geometric center point of the second puncture teaching model is obtained and marked as a track characteristic point, a horizontal plane where the track characteristic point is located is marked as a first track plane, in the first track plane, a straight line is arbitrarily made through the track characteristic point to obtain a first track straight line, a straight line perpendicular to the first track straight line is made through the track characteristic point to obtain a second track straight line, a straight line perpendicular to the first track plane is made through a coordinate origin to obtain a third track straight line, the track characteristic point is marked as a coordinate origin, the first track straight line is marked as a coordinate x-axis, the second track straight line is marked as a coordinate y-axis, and the third track straight line is marked as a coordinate z-axis to obtain a track space rectangular coordinate system;
Performing puncture track analysis on the sample puncture teaching experiment by using a second puncture teaching model, and acquiring puncture track anomaly corresponding to the sample puncture teaching experiment according to an analysis result;
The method comprises the following steps:
In the second puncture teaching model, acquiring a needle puncture trajectory of a target student operation sample puncture teaching experiment, decomposing the needle puncture trajectory into a plurality of track coordinate points, and respectively marking the acquired plurality of track coordinate points as G1 track coordinate points to Gb track coordinate points;
In the second puncture teaching model, marking a puncture blood vessel corresponding to a sample puncture teaching experiment to obtain a target puncture area;
Acquiring the edge distance values from the G1 track coordinate point to the Gb track coordinate point and the target puncture area, and acquiring the G1 edge distance value to the Gb edge distance value;
The method comprises the following steps:
in the second puncture teaching model, a G1 track coordinate point is used as a vertical section of a target puncture area to obtain a G1 blood vessel vertical section, pixel point filling is carried out on the blood vessel edge in the G1 blood vessel vertical section to obtain a plurality of blood vessel edge pixel points, and one blood vessel edge pixel point is selected from the filled plurality of blood vessel edge pixel points at will;
Acquiring coordinates of a G1 track coordinate point in a track space rectangular coordinate system to obtain G1 track coordinates (x 1, y1, z 1), and acquiring coordinates of a sample blood vessel edge pixel point in the track space rectangular coordinate system to obtain sample pixel point coordinates (x 2, y2, z 2);
Calculating to obtain a coordinate distance value Yzj between the G1 track coordinate point and the sample blood vessel edge pixel point through the G1 track coordinate (x 1, y1, z 1) and the sample pixel point coordinate (x 2, y2, z 2);
The specific formula is as follows:
Respectively obtaining the coordinate distance values between the G1 track coordinate point and each blood vessel edge pixel point, comparing the values of the obtained coordinate distance values, and marking the coordinate distance value with the smallest value as the G1 edge distance value;
Repeating the acquisition process of the G1 edge distance value to acquire a G2 edge distance value to a Gb edge distance value respectively;
If the G1 track coordinate is not in the target puncture area, marking the G1 track coordinate point with an abnormal track point;
If the G1 track coordinate is positioned in the target puncture area, acquiring an edge distance reference interval, if the G1 edge distance value is positioned in the edge distance reference interval, marking a normal track point by the G1 track coordinate point, and if the G1 edge distance value is not positioned in the edge distance reference interval, marking an abnormal track point by the G1 track coordinate point;
obtaining the number of abnormal track points from the G1 track coordinate point to the Gb track coordinate point to obtain an abnormal track point number value, and calculating the ratio of the abnormal track point number value to b to obtain the puncture track anomaly degree corresponding to the sample puncture teaching experiment;
repeating the acquisition process of the puncture track anomaly degree corresponding to the sample puncture teaching experiment, and respectively acquiring the puncture track anomaly degree corresponding to each puncture teaching experiment to obtain puncture track deviation data;
S3, performing puncture level evaluation on the target students according to the needle inlet angle deviation data and the puncture track deviation data;
In the step S3, the method further includes the following steps:
Acquiring needle inserting angle deviation data, respectively acquiring needle inserting angle deviation degrees corresponding to each puncture teaching experiment according to the needle inserting angle deviation data, and calculating a plurality of obtained needle inserting angle deviation degrees to obtain a needle inserting angle average deviation degree;
acquiring puncture track deviation data, and respectively acquiring puncture track anomaly corresponding to each puncture teaching experiment according to the puncture track deviation data;
respectively acquiring an average deviation degree reference interval of a needle inserting angle and a puncture track abnormality degree reference interval;
If the average deviation degree of the needle inserting angle is in the reference interval of the average deviation degree of the needle inserting angle and the abnormality degree of the puncture track is in the reference interval of the abnormality degree of the puncture track, evaluating that the puncture level of the target student is qualified;
If the average deviation degree of the needle inserting angle is in the reference interval of the average deviation degree of the needle inserting angle and the abnormal degree of the puncture track is not in the reference interval of the abnormal degree of the puncture track, evaluating that the puncture level of the target student is unqualified;
if the average deviation degree of the needle inserting angle is not in the reference interval of the average deviation degree of the needle inserting angle and the abnormality degree of the puncture track is in the reference interval of the abnormality degree of the puncture track, evaluating that the puncture level of the target student is unqualified;
If the average deviation degree of the needle inserting angle is not in the reference interval of the average deviation degree of the needle inserting angle and the abnormal degree of the puncture track is not in the reference interval of the abnormal degree of the puncture track, the puncture level of the target student is evaluated to be unqualified.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.

Claims (6)

1.一种智能化静脉穿刺虚实结合的交互教学系统，包括：1. An intelligent interactive teaching system for intravenous puncture, combining virtual and real elements, comprising: 进针数据模块：针对目标学生设置若干次穿刺交互实验，创建第一穿刺教学模型对每一次穿刺交互实验进行进针角度分析，根据分析结果获取每一个穿刺教学实验所对应的进针角度偏差度，得到进针角度偏差数据；Needle insertion data module: Set up several puncture interactive experiments for the target students, create the first puncture teaching model, analyze the needle insertion angle for each puncture interactive experiment, and obtain the needle insertion angle deviation for each puncture teaching experiment based on the analysis results, thus obtaining the needle insertion angle deviation data. 穿刺轨迹模块：创建第二穿刺教学模型对每一次穿刺交互实验进行穿刺轨迹分析，根据分析结果获取每一个穿刺教学实验所对应的穿刺轨迹异常度，得到穿刺轨迹偏差数据；Puncture trajectory module: Create a second puncture teaching model to analyze the puncture trajectory of each puncture interactive experiment, obtain the puncture trajectory anomaly degree corresponding to each puncture teaching experiment based on the analysis results, and obtain puncture trajectory deviation data; 交互评估模块：根据进针角度偏差数据和穿刺轨迹偏差数据对目标学生进行穿刺水平评估；Interactive assessment module: assesses the puncture proficiency of target students based on needle insertion angle deviation data and puncture trajectory deviation data; 对进针角度偏差数据进行获取，具体如下：The needle insertion angle deviation data is obtained as follows: 选取一个目标学生，针对目标学生设置若干次穿刺教学实验，并在所设置若干次穿刺教学实验任意选取一个样本穿刺教学实验；Select a target student, set up several puncture teaching experiments for the target student, and randomly select one sample puncture teaching experiment from the set up puncture teaching experiments. 在手臂模型的皮下脂肪组织中选取若干个脂肪组织特征点，得到第一穿刺教学模型；Several adipose tissue feature points were selected in the subcutaneous adipose tissue of the arm model to obtain the first puncture teaching model. 使用第一穿刺教学模型对样本穿刺教学实验进行进针角度分析，根据分析结果得到样本穿刺教学实验所对应的进针角度偏差度；The needle insertion angle of the sample puncture teaching experiment was analyzed using the first puncture teaching model. Based on the analysis results, the deviation of the needle insertion angle corresponding to the sample puncture teaching experiment was obtained. 对每一次穿刺教学实验所对应的进针角度偏差度进行获取，得到进针角度偏差数据；The needle insertion angle deviation for each puncture teaching experiment was obtained to obtain needle insertion angle deviation data; 对样本穿刺教学实验所对应的进针角度偏差度进行获取，具体如下：The deviation of the needle insertion angle corresponding to the sample puncture teaching experiment was obtained, as follows: 对第一穿刺教学模型进行空间分析，根据分析结果创建进针空间直角坐标系；Spatial analysis was performed on the first puncture teaching model, and a rectangular coordinate system for needle insertion space was created based on the analysis results. 在进针空间坐标系中对目标学生所操作的穿刺针头所接触的多个脂肪组织特征点进行获取，得到多个针头接触特征点，并根据接触的先后顺序将所获取的多个针头接触特征点依次标记为J1接触特征点至Ja接触特征点；In the needle insertion space coordinate system, multiple adipose tissue feature points are obtained by the puncture needle operated by the target student, and multiple needle contact feature points are obtained and marked as J1 contact feature point to Ja contact feature point according to the order of contact. 在进针空间直角坐标系中，对J1接触特征点与J2接触特征点进行连接，得到J1进针角度线，以此类推，对Ja-1接触特征点与Ja接触特征点进行连接，得到Ja-1进针角度线；In the rectangular coordinate system of needle insertion space, connect the J1 contact feature point and the J2 contact feature point to obtain the J1 needle insertion angle line. Similarly, connect the Ja-1 contact feature point and the Ja contact feature point to obtain the Ja-1 needle insertion angle line. 对J1进针角度线与第一进针平面的夹角标记为J1进针角度数值，以此类推，对Ja-1进针角度线与第一进针平面的夹角标记为Ja-1进针角度数值；The angle between the J1 needle insertion angle line and the first needle insertion plane is marked as the J1 needle insertion angle value, and so on, the angle between the Ja-1 needle insertion angle line and the first needle insertion plane is marked as the Ja-1 needle insertion angle value; 对J1进针角度线至Ja-1进针角度线进行偏差分析，得到J1进针角度偏差至Ja-1进针角度偏差，并对J1进针角度偏差至Ja-1进针角度偏差进行数值大小比对，将数值最大的进针角度偏差标记为峰值进针角度偏差；A deviation analysis was performed on the needle insertion angle line from J1 to Ja-1 to obtain the needle insertion angle deviation from J1 to Ja-1. The numerical values of the needle insertion angle deviation from J1 to Ja-1 were compared, and the needle insertion angle deviation with the largest value was marked as the peak needle insertion angle deviation. 对基准进针角度区间所对应的区间中位数进行获取，计算峰值进针角度偏差的比值，得到样本穿刺教学实验所对应的进针角度偏差度；The median of the interval corresponding to the baseline needle insertion angle interval is obtained, and the ratio of the peak needle insertion angle deviation is calculated to obtain the needle insertion angle deviation degree corresponding to the sample puncture teaching experiment. 对样本穿刺教学实验所对应的穿刺轨迹异常度进行获取，具体如下：The abnormality of the puncture trajectory corresponding to the sample puncture teaching experiment was obtained as follows: 在第二穿刺教学模型中，对目标学生操作样本穿刺教学实验的针头穿刺轨迹线进行获取，并将针头穿刺轨迹线分解为G1轨迹坐标点至Gb轨迹坐标点；In the second puncture teaching model, the needle puncture trajectory line of the target student's operation sample puncture teaching experiment is obtained, and the needle puncture trajectory line is decomposed into G1 trajectory coordinate points to Gb trajectory coordinate points. 在第二穿刺教学模型中，对样本穿刺教学实验所对应的穿刺血管进行标记，得到目标穿刺区域；In the second puncture teaching model, the puncture vessels corresponding to the sample puncture teaching experiment are marked to obtain the target puncture area; 获取G1轨迹坐标点至Gb轨迹坐标点与目标穿刺区域的边缘距离数值，得到G1边缘距离数值至Gb边缘距离数值；Obtain the distance values from the G1 trajectory coordinate point to the Gb trajectory coordinate point and the edge of the target puncture area, and get the G1 edge distance value to the Gb edge distance value; 若G1轨迹坐标不处于目标穿刺区域内部，将G1轨迹坐标点标记异常轨迹点；If the G1 trajectory coordinates are not within the target puncture area, mark the G1 trajectory coordinates as abnormal trajectory points; 若G1轨迹坐标处于目标穿刺区域内部，获取边缘距离基准区间，若G1边缘距离数值处于边缘距离基准区间，将G1轨迹坐标点标记正常轨迹点，若G1边缘距离数值不处于边缘距离基准区间，将G1轨迹坐标点标记异常轨迹点；If the G1 trajectory coordinates are within the target puncture area, obtain the edge distance reference range. If the G1 edge distance value is within the edge distance reference range, mark the G1 trajectory coordinates as normal trajectory points. If the G1 edge distance value is not within the edge distance reference range, mark the G1 trajectory coordinates as abnormal trajectory points. 对G1轨迹坐标点至Gb轨迹坐标点中的异常轨迹点进行数量获取，得到异常轨迹点数量值，计算异常轨迹点数量值与b的比值，得到样本穿刺教学实验所对应的穿刺轨迹异常度。The number of abnormal trajectory points from trajectory coordinate point G1 to trajectory coordinate point Gb is obtained, and the ratio of the number of abnormal trajectory points to b is calculated to obtain the abnormality degree of the puncture trajectory corresponding to the sample puncture teaching experiment. 2.根据权利要求1所述的一种智能化静脉穿刺虚实结合的交互教学系统，其特征在于，对进针空间直角坐标系进行创建，具体如下：2. The intelligent interactive teaching system for intravenous puncture combining virtual and real elements as described in claim 1, characterized in that a rectangular coordinate system for needle insertion space is created, specifically as follows: 对目标学生在第一穿刺教学模型中的穿刺进针点进行获取，将穿刺进针点作为几何中心点标记一个穿刺皮肤区域，将皮肤穿刺区域所对应的脂肪组织特征点所占据的空间区域标记为穿刺进针空间区域；The puncture point of the target student in the first puncture teaching model is obtained. The puncture point is used as the geometric center point to mark a puncture skin area. The spatial area occupied by the adipose tissue feature points corresponding to the skin puncture area is marked as the puncture space area. 在穿刺进针空间区域内，将穿刺进针点标记为坐标原点，将坐标原点所在的水平平面标记为第一进针平面，在第一进针平面中，过坐标原点任意作一条直线，得到第一进针直线，过坐标原点作垂直于第一进针直线的直线，得到第二进针直线，过坐标原点作垂直于第一进针平面的直线，得到第三进针直线，将第一进针直线标记为坐标x轴，第二进针直线标记为坐标y轴，第三进针直线标记为坐标z轴，得到进针空间直角坐标系。Within the puncture and needle insertion space, the puncture and needle insertion point is marked as the origin of the coordinate system. The horizontal plane containing the origin of the coordinate system is marked as the first needle insertion plane. In the first needle insertion plane, any straight line is drawn through the origin of the coordinate system to obtain the first needle insertion line. A straight line perpendicular to the first needle insertion line is drawn through the origin of the coordinate system to obtain the second needle insertion line. A straight line perpendicular to the first needle insertion plane is drawn through the origin of the coordinate system to obtain the third needle insertion line. The first needle insertion line is marked as the x-axis, the second needle insertion line is marked as the y-axis, and the third needle insertion line is marked as the z-axis, thus obtaining the rectangular coordinate system of the needle insertion space. 3.根据权利要求1所述的一种智能化静脉穿刺虚实结合的交互教学系统，其特征在于，对穿刺轨迹偏差数据进行获取，具体如下：3. The intelligent interactive teaching system for intravenous puncture combining virtual and real elements as described in claim 1, characterized in that the puncture trajectory deviation data is acquired, specifically as follows: 对样本穿刺教学实验所对应的手臂模型进行获取，并对手臂模型的内部空间进行建模，得到第二穿刺教学模型；The arm model corresponding to the sample puncture teaching experiment was obtained, and the internal space of the arm model was modeled to obtain the second puncture teaching model. 对第二穿刺教学模型的几何中心点进行获取，并将其标记为轨迹特征点，将轨迹特征点所处的水平平面标记为第一轨迹平面，在第一轨迹平面中，过轨迹特征点任意作一条直线，得到第一轨迹直线，过轨迹特征点作垂直于第一轨迹直线的直线，得到第二轨迹直线，过坐标原点作垂直于第一轨迹平面的直线，得到第三轨迹直线，将轨迹特征点标记为坐标原点，将第一轨迹直线标记为坐标x轴，第二轨迹直线标记为坐标y轴，第三轨迹直线标记为坐标z轴，得到轨迹空间直角坐标系；The geometric center point of the second puncture teaching model is obtained and marked as the trajectory feature point. The horizontal plane where the trajectory feature point is located is marked as the first trajectory plane. In the first trajectory plane, an arbitrary straight line is drawn through the trajectory feature point to obtain the first trajectory line. A straight line perpendicular to the first trajectory line is drawn through the trajectory feature point to obtain the second trajectory line. A straight line perpendicular to the first trajectory plane is drawn through the origin to obtain the third trajectory line. The trajectory feature point is marked as the origin, the first trajectory line is marked as the x-axis, the second trajectory line is marked as the y-axis, and the third trajectory line is marked as the z-axis, thus obtaining a trajectory space rectangular coordinate system. 使用第二穿刺教学模型对样本穿刺教学实验进行穿刺轨迹分析，根据分析结果获取样本穿刺教学实验所对应的穿刺轨迹异常度；The second puncture teaching model was used to analyze the puncture trajectory of the sample puncture teaching experiment, and the abnormality of the puncture trajectory corresponding to the sample puncture teaching experiment was obtained based on the analysis results. 分别对每一次穿刺教学实验所对应的穿刺轨迹异常度进行获取，得到穿刺轨迹偏差数据。The abnormality of the puncture trajectory for each puncture teaching experiment was obtained to obtain puncture trajectory deviation data. 4.根据权利要求1所述的一种智能化静脉穿刺虚实结合的交互教学系统，其特征在于，对G1边缘距离数值进行获取，具体如下：4. The intelligent interactive teaching system for intravenous puncture combining virtual and real elements according to claim 1, characterized in that the value of the G1 edge distance is obtained as follows: 在第二穿刺教学模型中，过G1轨迹坐标点作目标穿刺区域的垂直截面，得到G1血管垂直截面，并对G1血管垂直截面中的血管边缘进行像素点填充，并在所填充的若干个血管边缘像素点中任意选取一个样本血管边缘像素点；In the second puncture teaching model, a vertical section of the target puncture area is made through the coordinate point of G1 trajectory to obtain the vertical section of G1 blood vessel. The blood vessel edge in the vertical section of G1 blood vessel is filled with pixels, and a sample blood vessel edge pixel is randomly selected from several filled blood vessel edge pixels. 对G1轨迹坐标点在轨迹空间直角坐标系中的坐标进行获取，得到G1轨迹坐标（x1,y1,z1），对样本血管边缘像素点在轨迹空间直角坐标系中的坐标进行获取，得到样本像素点坐标（x2,y2,z2）；The coordinates of the G1 trajectory points in the trajectory space Cartesian coordinate system are obtained to get the G1 trajectory coordinates (x1, y1, z1). The coordinates of the sample blood vessel edge pixels in the trajectory space Cartesian coordinate system are obtained to get the sample pixel coordinates (x2, y2, z2). 通过G1轨迹坐标（x1,y1,z1）以及样本像素点坐标（x2,y2,z2）计算得到G1轨迹坐标点与样本血管边缘像素点之间的坐标距离数值Yzj；The coordinate distance Yzj between the G1 trajectory coordinate point and the sample blood vessel edge pixel point is calculated using the G1 trajectory coordinate (x1, y1, z1) and the sample pixel coordinate (x2, y2, z2). 获取G1轨迹坐标点与每一个血管边缘像素点之间的坐标距离数值，将数值最小的坐标距离数值标记为G1边缘距离数值。Obtain the coordinate distance values between the G1 trajectory coordinate points and each blood vessel edge pixel, and mark the coordinate distance value with the smallest value as the G1 edge distance value. 5.根据权利要求1所述的一种智能化静脉穿刺虚实结合的交互教学系统，其特征在于，对目标学生进行穿刺水平评估，具体如下：5. The intelligent interactive teaching system for intravenous puncture combining virtual and real elements according to claim 1, characterized in that the puncture proficiency of the target student is assessed, specifically as follows: 获取进针角度偏差数据，根据进针角度偏差数据分别获取每一次穿刺教学实验所对应的进针角度偏差度，并对所得多个进针角度偏差度进行计算，得到进针角度平均偏差度；Obtain needle insertion angle deviation data, and based on the needle insertion angle deviation data, obtain the needle insertion angle deviation degree corresponding to each puncture teaching experiment, and calculate the average needle insertion angle deviation degree obtained from the multiple needle insertion angle deviation degrees. 获取穿刺轨迹偏差数据，根据穿刺轨迹偏差数据分别获取每一次穿刺教学实验所对应的穿刺轨迹异常度；Obtain puncture trajectory deviation data, and based on the puncture trajectory deviation data, obtain the puncture trajectory abnormality degree corresponding to each puncture teaching experiment; 获取进针角度平均偏差度基准区间以及穿刺轨迹异常度基准区间；Obtain the baseline range for the average deviation of the needle insertion angle and the baseline range for the abnormality of the puncture trajectory; 若进针角度平均偏差度处于进针角度平均偏差度基准区间，且穿刺轨迹异常度处于穿刺轨迹异常度基准区间，则评估目标学生穿刺水平合格；If the average deviation of the needle insertion angle is within the baseline range of the average deviation of the needle insertion angle, and the abnormality of the puncture trajectory is within the baseline range of the abnormality of the puncture trajectory, then the puncture level of the target student is deemed qualified. 若进针角度平均偏差度处于进针角度平均偏差度基准区间，且穿刺轨迹异常度不处于穿刺轨迹异常度基准区间，则评估目标学生穿刺水平不合格；If the average deviation of the needle insertion angle is within the baseline range of the average deviation of the needle insertion angle, and the abnormality of the puncture trajectory is not within the baseline range of the abnormality of the puncture trajectory, then the puncture level of the target student is deemed unqualified. 若进针角度平均偏差度不处于进针角度平均偏差度基准区间，且穿刺轨迹异常度处于穿刺轨迹异常度基准区间，则评估目标学生穿刺水平不合格；If the average deviation of the needle insertion angle is not within the baseline range of the average deviation of the needle insertion angle, but the abnormality of the puncture trajectory is within the baseline range of the abnormality of the puncture trajectory, then the puncture level of the target student is deemed unqualified. 若进针角度平均偏差度不处于进针角度平均偏差度基准区间，且穿刺轨迹异常度不处于穿刺轨迹异常度基准区间，则评估目标学生穿刺水平不合格。If the average deviation of the needle insertion angle is not within the baseline range of the average deviation of the needle insertion angle, and the abnormality of the puncture trajectory is not within the baseline range of the abnormality of the puncture trajectory, then the puncture level of the target student is deemed unqualified. 6.一种智能化静脉穿刺虚实结合的交互教学方法，适用于权利要求1-5任意一项所述的一种智能化静脉穿刺虚实结合的交互教学系统，其特征在于，所述交互教学方法包括具体以下步骤：6. An intelligent interactive teaching method combining virtual and real methods for intravenous puncture, applicable to the intelligent interactive teaching system combining virtual and real methods for intravenous puncture as described in any one of claims 1-5, characterized in that the interactive teaching method includes the following specific steps: 步骤S1：针对目标学生设置若干次穿刺交互实验，创建第一穿刺教学模型对每一次穿刺交互实验进行进针角度分析，根据分析结果获取每一个穿刺教学实验所对应的进针角度偏差度，得到进针角度偏差数据；Step S1: Set up several puncture interactive experiments for the target students, create the first puncture teaching model, analyze the needle insertion angle for each puncture interactive experiment, obtain the needle insertion angle deviation for each puncture teaching experiment based on the analysis results, and obtain the needle insertion angle deviation data. 步骤S2：创建第二穿刺教学模型对每一次穿刺交互实验进行穿刺轨迹分析，根据分析结果获取每一个穿刺教学实验所对应的穿刺轨迹异常度，得到穿刺轨迹偏差数据；Step S2: Create a second puncture teaching model to perform puncture trajectory analysis on each puncture interactive experiment, obtain the puncture trajectory anomaly degree corresponding to each puncture teaching experiment based on the analysis results, and obtain puncture trajectory deviation data. 步骤S3：根据进针角度偏差数据和穿刺轨迹偏差数据对目标学生进行穿刺水平评估。Step S3: Assess the puncture skill level of the target student based on the needle insertion angle deviation data and puncture trajectory deviation data.
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